【摘要】 针对小型仿人机器人的零力矩点(ZMP)轨迹在线确定问题,设计了一种基于多个简单一维力/力矩传感器的脚底传感阵列系统以及一种距离可调的多孔、双夹板机构,用以安装力/力矩传感器,并实现了脚底传感器信号多级放大及采集软硬件系统。应用CAN总线接口实现了与外部上层控制器的通信。实现了小型仿人机器人行走过程中实际ZMP轨迹的在线计算和实时传递。实验结果证明,该传感系统能够有效地完成脚底力信息的实时采集、计算与通讯。更多还原

【Abstract】 In order to on-line identify a small humanoid robot zero moment point(ZMP) trajectory,A kind of foot sensor array system based on a number of simple one-axis force/torque sensors,and an adjustable distance porous,double-plywood framework to install the force/torque sensor was designed.And we achieved multi-stage amplification of the foot sensor signals and the hardware and software system for collect information.We also realized communication with external micro control unit(MCU) by using controller area network(CAN) bus,as well as on-line calculation and real-time delivery of the actual ZMP trajectory throughout the whole walking phase.The actual experiments demonstrated that this sensor system can effectively complete the real-time collection,computing and communication of the feet force information.更多还原